A Review of Microrobot’s System: Towards System Integration for Autonomous Actuation In Vivo

Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position ac...

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Bibliographic Details
Published inMicromachines (Basel) Vol. 12; no. 10; p. 1249
Main Authors Li, Zhongyi, Li, Chunyang, Dong, Lixin, Zhao, Jing
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 15.10.2021
MDPI
Subjects
Actuation
Algorithms
autonomous actuation system
Biomedical materials
Hybrid systems
in vivo
Light
Magnetic fields
Manual control
Medical equipment
Medical imaging
Medical research
microrobot
Microrobots
Radiation
Review
Robots
Sound waves
system integration
Working conditions
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Summary:Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position accurately. Therefore, autonomous actuation technology based on medical imaging has become the solution receiving the most attention considering its low precision and efficiency of manual control. This paper investigates key components of microrobot’s autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, hoping to help realize system integration of them. The hardware integration has two situations according to sharing the transmitting equipment or not, with the consideration of interference, efficiency, microrobot’s material and structure. Furthermore, system integration of hybrid actuation and multimodal imaging can improve the navigation effect of the microrobot. The software integration needs to consider the characteristics and deficiencies of the existing actuation algorithms, imaging algorithms, and the complex 3D working environment in vivo. Additionally, considering the moving distance in the human body, the autonomous actuation system combined with rapid delivery methods can deliver microrobots to specify position rapidly and precisely.
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ISSN:2072-666X
2072-666X
DOI:10.3390/mi12101249